WO2005050493A2 - Systeme de simulation et procede mis en oeuvre par ordinateur permettant de simuler et de verifier un systeme de commande - Google Patents

Systeme de simulation et procede mis en oeuvre par ordinateur permettant de simuler et de verifier un systeme de commande Download PDF

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Publication number
WO2005050493A2
WO2005050493A2 PCT/EP2004/012735 EP2004012735W WO2005050493A2 WO 2005050493 A2 WO2005050493 A2 WO 2005050493A2 EP 2004012735 W EP2004012735 W EP 2004012735W WO 2005050493 A2 WO2005050493 A2 WO 2005050493A2
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WIPO (PCT)
Prior art keywords
simulation
target
model
computer
host
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PCT/EP2004/012735
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English (en)
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WO2005050493A3 (fr
Inventor
Karsten Strehl
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Robert Bosch Gmbh
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Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to EP04818771A priority Critical patent/EP1685510A2/fr
Priority to US10/578,971 priority patent/US20070255546A1/en
Priority to JP2006538784A priority patent/JP2007518152A/ja
Publication of WO2005050493A2 publication Critical patent/WO2005050493A2/fr
Publication of WO2005050493A3 publication Critical patent/WO2005050493A3/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F15/00—Digital computers in general; Data processing equipment in general
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/30—Circuit design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/30—Circuit design
    • G06F30/32—Circuit design at the digital level
    • G06F30/33—Design verification, e.g. functional simulation or model checking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/30—Circuit design
    • G06F30/32—Circuit design at the digital level
    • G06F30/33—Design verification, e.g. functional simulation or model checking
    • G06F30/3308—Design verification, e.g. functional simulation or model checking using simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2117/00—Details relating to the type or aim of the circuit design
    • G06F2117/08—HW-SW co-design, e.g. HW-SW partitioning

Definitions

  • the present invention relates to a simulation system for computer-implemented simulation and verification of a control system under development as well as a computer- implemented method for simulating and verifying a control system under development. More particularly, the present invention relates to the so-called rapid prototyping of a control system for dynamic systems such as vehicles, aircrafts, ships, etc. as well as parts thereof. Further, the present invention relates to a computer program product with a computer-readable medium and a computer program stored on the computer-readable medium with program coding means which are suitable for carrying out such a process when the computer program is run on a computer.
  • a rapid prototyping system usually is characterized as being a hybrid hardware/software system, in general consisting of the following main components:
  • a simulation target consisting of one or several simulation processors with corresponding memory modules, each running basically a portion of a model of the control system under development, input interfaces composed of signals being fed by the plant (the outside world being controlled) , output interfaces composed of signals feeding the plant, and
  • Figure 1 shows a conventional simulation system 10 at the model level as known from the prior art.
  • the known simulation system 10 comprises one or more simulation processors with corresponding memory modules on which portions 12a, 12b, 12c of a model of the control system under development (or so-called sub-models) are run.
  • the simulation system 10 further comprises an input interface 13a and an output interface 13b for exchanging signals with the so-called outside world.
  • the simulation system 10 comprises a communication interface for downloading the module from a host onto the simulation target, controlling the simulation experiment, measuring and calibrating module signals and parameters, respectively.
  • Figure 1 is at the model level, not at the technical level. With 14 are stimuli signals named, used where no physical input signals are available. Separate fromthis is the communication interface later described with regard to figure 3. The inventive communication interface could be added into the figure 1 structure if desired.
  • Signals of the input and output interfaces can be analog (e.g., temperature or pressure sensor) or digital (e.g., communication protocol such as CAN) .
  • analog e.g., temperature or pressure sensor
  • digital e.g., communication protocol such as CAN
  • the rapid prototyping system is used as integral part of the control loop, just the way finally the controller (electronic control unit) will be.
  • modules in the following several model parts (called modules in the following) from one or several sources (e.g., behavioral modeling tool, hand-written C code) are to be integrated with each other, so as to compose an entire control system's model.
  • sources e.g., behavioral modeling tool, hand-written C code
  • modules 12a, 12b, 12c as well as between modules and input or output interfaces 13a, 13b (likewise considered as modules in the following) is performed via signals connecting input and output ports, depicted as circles in Figure 1.
  • this communication is achieved by sharing the very same memory location (the same high-level language variable) for ports being connected with each other, where one module writes the current value of the signal into the given memory location and the other module reads from it.
  • control strategies and algorithms for dynamic systems such as vehicles or parts of them can be tested under real- world conditions without requiring the existence of the final implementation of the control loop.
  • the target mostly is an embedded computer running the controller, e.g., • dedicated experiment hardware for rapid prototyping or • an electronic control unit (ECU) for software development, and • host and target are connected with each other via dedicated M & C communication interfaces.
  • the controller e.g., • dedicated experiment hardware for rapid prototyping or • an electronic control unit (ECU) for software development, and • host and target are connected with each other via dedicated M & C communication interfaces.
  • ECU electronice control unit
  • the M & C tool usually performs tasks such as
  • M & C tools rely on a number of standardized M & C interfaces being either true or de-facto standards, especially in the automotive industry. The availability of those interfaces can be assumed in automotive hardware for both rapid prototyping or software development, especially for A-step and B-step ECUs . In this context, experiment environments as used for rapid prototyping are considered M & C tools as well, though of restricted or partly different functionality.
  • M & C interfaces need to be supported by both software and hardware, on the host as well as on the target. Both are connected with each other via some physical interconnection running some communication protocol.
  • the M & C tool on the host in general uses software drivers for this purpose, while the target hardware runs dedicated protocol handlers. Examples for M & C protocols are CCP, XCP, KWP2000, or the INCA 1 , ASAPlbVLl 1 , and Distab 1 protocols.
  • Physical interconnections are, e.g., CAN, ETK 3 , Ethernet, FlexRay, USB, K-Line, WLAN (IEEE 802.11), or Bluetooth.
  • ASCET 4 For the development of embedded control systems, often behavioral modeling tools are employed, such as ASCET 4 , MATLAB ® /Simulink ®5 , Statemate MAGNUMTM 6 , and UML or SDL tools. These tools in general provide some graphical user interface for describing a control system' s structure and behavior by means of block diagrams, state machines, message sequence charts, flow diagrams, etc. Like this, a mathematical model of the control system may be created. Once the model is available, an automated transformation (code generation) of the model into program code in some high-level programming language (C, for instance) and finally in an executable program can be performed, either
  • ETK is an ETAS proprietary physical interconnection. * ASCET is a product family by ETAS GmbH.
  • many modeling tools provide means for animating the model during its simulation or execution by visualizing its behavior, e.g., by
  • FIG. 2a shows a first module 12d and a second module 12e which are sharing a variable which is stored in a static memory location 81.
  • the dynamic interconnection approach of the present invention does not rely on interconnection scheme specific model-to-code transformation. Instead, this transformation is totally independent of the actual module interconnections being used. Rather, inter-module communication is performed in an explicit manner by using distinct memory locations instead of shared ones and copying or replicating signal values from one memory location to another when needed.
  • a simulation system for computer- implemented simulation and verification of a control system under development comprising a generic model animation and in-model calibration interface, which uses measurement and calibration technologies with a host-target architecture, wherein the host contains at least one respective modelling tool and on the target software of the control system is executed.
  • a computer- implemented method for simulating and verifying a control system under development by means of such a simulation system and a computer program with program coding means which are suitable for carrying out this method, when the computer program is run on a computer and also a computer program product with a computer-readable medium like a RAM, DVD, CD-ROM, ROM, EPROM, EPROM, EEPROM, Flash, etc. and a respective computer program stored on the computer-readable medium.
  • a target server is used to connect the modelling tool with the target and the target server contains a protocol driver of a communication protocol used for communication with the target.
  • a simulation system comprising a plurality of simulation processes with corresponding memory and interface modules, which modules comprise distinct memory locations for inter-module communication and wherein simulation is performed by running a control system simulation model, the simulation model comprising a number of sub-models being performed on one of the plurality of modules, respectively, wherein at least some of the modules are dynamically reconfigurable for communication via distinct memory locations.
  • a part of the invention is a host of a simulation system for computer-implemented simulation and verification of a control system under development, the host comprising a generic model animation and in-model calibration interface, which uses measurement and calibration technologies for a host-target architecture, whereby the host contains at least one respective modelling tool ' and a target server to connect the modelling tool with the target .
  • the interconnection scheme is not reflected by the mere simulation executable, it needs to be passed on to the simulation target differently. This is achieved by dynamically setting up the actual module interconnections via the host-target communication interface during experiment setup, after having downloaded the executable.
  • the same modeling tool interface can be used for model animation and in-model calibration during off-line and on-line experiments as well as during ECU operation.
  • a simulation model is run to simulate and verify a control system during development, the simulation model comprises a number of sub-models which are run on the same or different nodes (processors) of a simulation system. Communication between the respective modules of the simulation model as well as the simulation system is performed via distinct and separate memory locations, the modules being dynamically connected with each other.
  • the data and/or signals are replicated consistently by means of a cross-bar switch.
  • this replication is performed under real time conditions.
  • the modules interconnect automatically via interconnection nodes and replicate data.
  • a consistent replication of data under real-time circumstances or conditions may be done via communication variables.
  • the cross-bar switch as mentioned above provides means for consistently copying values of output signals to communication variables after reaching a consistent state. Further, the cross-bar switch provides means for consistently passing these values to connected input signals before the respective modules continue computation.
  • a consistent copy mechanism may be achieved by atomic copy processes, blocking interrupts or the like. Under certain circumstances being determined by the respective real-time environment settings, signal variables or communication variables may be obsolete and then could be optimised away for higher performance.
  • a distributed approach could be used for dynamic reconfiguration of module interconnections instead of the central approach as described above.
  • ports could connect themselves to their respective counterparts and be responsible for signal value replication.
  • the invention also covers a computer program with program coding means which are suitable for carrying out a process according to the invention as subscribed above when the computer program is run on a computer.
  • the computer program itself as well as stored on a computer-readable medium is claimed.
  • Figure 1 is a schematic block illustration of a simulation system at the model level of the prior art as well as of the invention
  • Figure 2a is a schematic illustration of a static interconnection of the prior art
  • Figure 2b is a preferred embodiment of a dynamic interconnection according to the present invention.
  • Figure 3 is a preferred embodiment of a simulation system according to the invention using a dynamic interconnection according to Figure 2b;
  • Figure 4 is an example of a consistent replication under real-time circumstances via communication variables according to the invention.
  • Figure 5 is an alternative embodiment of an interconnection scheme according to the invention.
  • Figure 6 shows an architecture of model animation and in-model calibration.
  • Figure 7 is an example for an inventive model animation and in-model calibration approach with a target server.
  • the main component of the central approach simulation system 30 is a so-called cross-bar switch 10 with an interconnection scheme 11.
  • the simulation system 30' further comprises a plurality of modules 2a, 2b, 2c, an input interface 3a, an output interface 3b, a stimuli generator module 4 as well as a real-time operating system 7.
  • all components of simulation system 30 are interconnected with each other via the cross-bar switch, the interconnection scheme 11 defining which input and output ports of modules on the simulation target are connected with each other.
  • the interconnection scheme corresponds to the totality of connections in a block diagram wherein each block corresponds to one of the modules being integrated on the simulation target 30.
  • the interconnection scheme 11 could be conceived as a two- dimensional switch matrix wherein both dimensions denote the modules' ports and the matrix values define whether the respective ports are connected with each other (and possibly the signal flow direction) .
  • a simulation host 5 is connected with the cross-bar switch 10 via a host-target communication interface 6 and constitutes the human-machine interface to the rapid prototyping system.
  • the host 5 enables the configuration and reconfiguration of the interconnection scheme, preferably supported by some graphical user interface.
  • the host-target communication interface 6 connects the simulation host 5 with the simulation target 30. In general, it is based on some wired or wireless connection (serial interface, Ethernet, Bluetooth, etc.) and standardized or proprietary communication protocols (e.g., ASAPlb, LI) . It provides at least the following functionality :
  • the cross-bar switch 10 runs on the simulation target and is connected with
  • modules 2a, 2b, 2c representing model portions or submodels of the control system under development
  • modules 3a, 3b representing input and output interfaces to the control system's plant
  • modules 4 serving as stimuli generators to the model
  • a real-time operating system 7 underlying the simulation experiment.
  • the initial interconnection scheme 11 is downloaded from the host 5 via the host-target communication interface 6 into the crossbar switch 10.
  • the cross-bar switch 10 performs the actual communication among modules and components by copying signal values from output ports to input ports. The way this replication process is performed is defined by the interconnection scheme 11.
  • the interconnection scheme 11 can be reconfigured after interrupting or even during a running simulation. Thus, module interconnections can be altered on the fly, without perceptible delay.
  • signal and/or data values 82a, 82e of a first module 2f can be buffered as communication variables 82b, 82f, respectively, in distinct memory locations.
  • second and third modules 2g, 2h receive respective signal and/or data values 82c, 82g and 82d, 82h, respectively.
  • Each module 2f, 2g, 2h may compute at e.g. a different rate or upon interrupt triggers, and data replication 40 is performed by means of communication variables 82b, 82f buffering the current signal values.
  • data replication 40 is performed by means of communication variables 82b, 82f buffering the current signal values.
  • the cross-bar switch 10 provides means for • consistently copying values of output signals to communication variables after reaching a consistent state
  • the consistent copy mechanism as described may be achieved by atomic copy processes, blocking interrupts or the like, depending on the underlying real-time architecture and operating system.
  • signal variables or communication variables may be obsolete and then could be optimized away for higher performance.
  • each signal value may be influenced during inter-module communication in a pre-defined manner after reading the original value from the source memory location and before writing to the target memory location.
  • a generic model animation and in-model calibration interface for rapid prototyping and software development which uses measurement and calibration technologies with a host-target architecture and a respective simulation system and method.
  • Off-line debugging means for instance, that during an online experiment, first the measured data is logged onto the host's memory or hard disk. Afterwards, the data is replayed in off-line mode to the modeling tool, imitating the previously connected rapid prototyping hardware or a running ECU. This can be performed completely transparent to the modeling tool. Further common debug features enabled by this approach are single-step execution and model breakpoints, support by the modeling tool assumed.
  • Modeling Tools 70a and 70b and optional the M&C Tool 71 are shown. Between these Modeling Tools 70a and 70b and optional 71 a and the target 80 a model animation interface 72 is situated.
  • a target server 73 with protocol drivers 74 e.g. CCP 74a, XCP 74b, KWP2000 74c, INCA 74d, ASAP 74e, Distab 74f, usw.
  • the standard M&C interface 76 in the Target 80 connects this physical interconnection 75 to the Models 77a and 77b.
  • the application SW is executed. This architecture is one example for an inventive simulation system.
  • Target Server running on the host computer and building the bridge between the modeling tools on the host and the target hardware.
  • each modeling tool could be used for animation and calibration of any number of models on the target at a time .
  • the Target Server is the central component of the generic model animation and in-model calibration approach. Its role is that of target hardware and communications abstraction. The main task of the Target Server is to connect the modeling tools with the target hardware's M & C interface in a transparent manner.
  • the modeling tools need not be aware of the respective hardware used as target or of the communication protocols or physical interconnections being used as host/target interface.
  • the Target Server may contain a dedicated protocol driver or similar for each supported communication protocol, in order to perform the translation from model animation related communication into M & C specific protocols.
  • Another task of the Target Server is to log measured data onto the host's memory or hard disk, in order to use it for off-line debugging replay later on.
  • the modeling tools access the Target Server via its model animation interface. Like this, data needed for animating the model is passed from the target to the modeling tool. Further, calibration data is passed in the other direction from the modeling tool down to the target hardware. Basic model animation and in-model calibration are available in the modeling tool as soon as it uses the Target Server for target access instead of proprietary communication protocols. For advanced log & replay features such as single-step debugging and model breakpoints, the modeling tool is assumed to provide additional functionality .
  • the M & C Tool could run in parallel to the modeling tools, using the very same M & C interfaces and communication channels. However, this is no prerequisite for generic model animation and in-model calibration but depicted for demonstrating the conventional M & C approach.
  • an arbitrage scheme must be used for safety and data consistency. This arbitrage scheme could employ one or more of the following techniques, for instance: • locking of all but one tool for calibration of the given parameter set (master/slave principle), e.g., by using read only parameters, • notification of all other tools after calibrating parameters of the given set, or
  • the application software running on the target mainly consists of the models' code, a real-time operating system or a scheduler invoking the model code, hardware and communication drivers enabling model input and output, etc.
  • the code generated from the models being simulated performs computations according to the models' specified behavior.
  • the data structures in the code are accessed (read and write) by the standard M & C interface in order to perform conventional measurement and calibration or model animation and in-model calibration, respectively.
  • the Standard M & C Interface on the target constitutes the link between application software and the Target Server. It accesses model data for measurement and calibration and is connected via the physical interconnection with the host.
  • the M & C interface reads data from the application software and passes it via the M & C protocol to the Target Server which routes it to the modeling tools and the M & C tool (if applicable) .
  • a modeling tool or the M & C tool sends new parameter values via Target Server and M & C protocol to the M & C interface which updates them in the application software on the target.
  • M & C interface for instance, the CCP, XCP, KWP2000, INCA, or ASAPlb protocols could be used, based on, e.g., CAN, Ethernet, FlexRay, USB, or K-Line as physical interconnection.
  • CCP, XCP, KWP2000, INCA, or ASAPlb protocols could be used, based on, e.g., CAN, Ethernet, FlexRay, USB, or K-Line as physical interconnection.
  • each modeling and M & C tool could incorporate the host-side M & C interface adaptation on its own. Like this, the abstraction from target hardware could still maintained, while the abstraction from communication channels would be transferred to the tools involved. For this reason, target access would be less transparent, and the number of M & C interfaces being supported could be smaller. Further, the support of log & replay off-line debugging would be more expensive. On the other hand, not all modeling and M & C tools would need to comply with one and the same interface of a Target Server component as otherwise.
  • an M & C tool could be used as intermediary.
  • the model animation interface would not be incorporated in the Target Server but in the M & C tool, e.g., an experiment environment for rapid prototyping.
  • the modeling tools would then connect to this interface.
  • This approach could more easily provide support for calibration arbitrage since in general only the M & C tool and a single modeling tool compete in calibrating the same sets of parameters, and the M & C tool could receive calibration commands from the modeling tool, interpret them for its own purposes (refresh of displayed value, data storage, etc.), and pass them to the Target Server for the actual calibration process.

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Abstract

L'invention concerne un système de simulation et un procédé de simulation et de vérification mises en oeuvre par ordinateur d'un système de commande en développement. Le système de simulation comprend une animation de modèle générique et une interface d'étalonnage dans le modèle utilisant des technologies de mesure et d'étalonnage avec une architecture hôte-cible, l'hôte comprenant au moins un outil de modelage respectif et étant exécuté sur le logiciel cible du système de commande.
PCT/EP2004/012735 2003-11-10 2004-11-10 Systeme de simulation et procede mis en oeuvre par ordinateur permettant de simuler et de verifier un systeme de commande WO2005050493A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP04818771A EP1685510A2 (fr) 2003-11-10 2004-11-10 Interface de calibration et mesure generique pour le développement de logiciels de contrôle
US10/578,971 US20070255546A1 (en) 2003-11-10 2004-11-10 Simulation System and Computer-Implemented Method for Simulation and Verifying a Control System
JP2006538784A JP2007518152A (ja) 2003-11-10 2004-11-10 制御システムをシミュレーションおよび検証するためのシミュレーションシステムおよびコンピュータにより実施される方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP03025834.7 2003-11-10
EP03025834A EP1530138A1 (fr) 2003-11-10 2003-11-10 Interface de calibration et mesure generique pour le développment de logiciels de contrôle

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Publication Number Publication Date
WO2005050493A2 true WO2005050493A2 (fr) 2005-06-02
WO2005050493A3 WO2005050493A3 (fr) 2005-11-24

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US (1) US20070255546A1 (fr)
EP (2) EP1530138A1 (fr)
JP (1) JP2007518152A (fr)
KR (1) KR20060120080A (fr)
CN (1) CN100498799C (fr)
WO (1) WO2005050493A2 (fr)

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